Research On Cooperative Formation Flight Control Of Marine UAV

Multi-UAV cooperative formation flight has broad development and application prospect in military and civil fields, so it has become the core direction of UAV technology research in recent years, and countries all over the world, especially the advanced countries, are paying more and more attention to its development. In this thesis, it takes UAV as the research background, focuses on the research of marine UAV cooperative formation flight control.First of all, based on the single UAV model, the basic relative motion model of multi-UAV formation flight according to the transform relationship between the inertial frame and the formation coordinate axis is set up in the same sea plane. By analyzing and studying the maritime threats and the aerodynamic coupling which effect on multi-UAV formation flight control, the complete kinematics model of marine UAV close formation flight is established.Secondly, according to the marine UAV close formation flight model, a normal formation flight controller based on the classical control theory is designed. For the characteristics of maritime formation flight, a chemical reaction optimization algorithm is proposed and introduced into the formation flight control system. Then a formation flight controller based on chemical reaction optimization is introduced and designed. The simulation results verify the effectiveness of these two controllers, and show that the performance of the controller based on chemical reaction optimization is more superior in the formation keeping and formation alternation of multi-UAV formation flight.Finally, the system of a small UAV which is developed in the laboratory is introduced, and the design and the physical implementation of its maritime formation flight subsystem is amply elaborated, including software of maritime formation flight designing, data of the environment and the task loading and validating, to further verify the feasibility of the designed formation flight control system.